Electro Pneumatic Control System for Inverted Pendulum

Krzysztof Popławski; Leszek Ambroziak; Mirosław Kondratiuk

doi:10.2478/ama-2020-0013

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Electro Pneumatic Control System for Inverted Pendulum

Acta Mechanica et Automatica

Volume 14 (2020): Issue 2 (June 2020)

By: Krzysztof Popławski, Leszek Ambroziak and Mirosław Kondratiuk

Open Access

|Jul 2020

Abstract

The paper concerns the inverted pendulum control system with using pneumatic cylinder. A mathematical model of the pendulum used to derive the LQG controller was presented. Prepared laboratory stand was presented and described in detail. The main purpose of the work was experimental researches. A number of control process tests were conducted with variable model parameters such as additional mass, injected disturbances and so on. The results were shown on the time plots of the control object states.

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Articles in this issue

DOI: https://doi.org/10.2478/ama-2020-0013 | Journal eISSN: 2300-5319 | Journal ISSN: 1898-4088

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Language: English

Page range: 91 - 97

Submitted on: Mar 1, 2020

Accepted on: Jun 4, 2020

Published on: Jul 24, 2020

Published by: Bialystok University of Technology

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

Inverted pendulum,

pneumatic actuator,

inverted pendulum control,

encoder,

stabilization

Related subjects:

Engineering,

Electrical engineering,

Electronics,

Mechanical engineering,

Mechanics,

Bioengineering and biomedical engineering,

Biomechanics,

Civil engineering,

Environmental engineering

© 2020 Krzysztof Popławski, Leszek Ambroziak, Mirosław Kondratiuk, published by Bialystok University of Technology
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 14 (2020): Issue 2 (June 2020)